JP2889945B2 - Linear Excavation Control Method of Hydraulic Power Shovel Using Laser Light - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a control method for excavating a bucket by linearly moving a bucket for excavating a trench for burying a pipe or excavating a slope with a hydraulic power shovel. About.

[Conventional technology]

The hydraulic power shovel excavates the boom, arm, and bucket by rotating the boom, arm, and bucket in the vertical direction, and the boom, arm, and bucket are operated by an operator to operate a boom cylinder, an arm cylinder, Supplying pressure oil to the bucket cylinder causes it to expand and contract, causing it to rotate up and down. To move the bucket linearly, each valve must be operated in a complicated manner, and the operation is very troublesome and skilled. Cost.

On the other hand, various linear excavation control methods for automatically performing linear excavation by automatically linearly moving a bucket have been proposed.

For example, as shown in Japanese Patent Publication No. 62-37183, a bucket is linearly calculated by calculating based on a boom rotation angle, an arm rotation angle, and a bucket rotation angle, and switching each operation valve according to the calculation result. A moving linear excavation control method has been proposed.

[Problems to be solved by the invention]

There is no specific example in which the previously proposed straight line excavation control method was actually applied to a hydraulic chamber excavator, and when the present inventor excavated a pipe embedding groove applied to a hydraulic excavator, the groove bottom was not flat. There was a step, and the fume tube could not be buried.

This is because the fume tube has a predetermined length and is embedded so as to uniformly contact along the groove bottom. Therefore, if the groove bottom has a stepped shape, the fume tube cannot be embedded.

The present invention has been made in view of the above problems, and has as its object to provide a direct excavation control method for a hydraulic power shovel capable of excavating a groove bottom in a flat state.

[Means and Actions for Solving the Problems]

As a result of studying the reason why the above-mentioned groove bottom has a shape having a step, the inventor of the present invention has considered that the conventionally proposed straight excavation control method only considers automatic control while the vehicle body is stopped. When actually excavating a trench for pipe embedding, the vehicle is stopped, and after excavating a trench of a predetermined length, the vehicle is driven for a predetermined distance, and a trench of a predetermined length is excavated again. When excavation is performed again, the height of the vehicle body varies due to irregularities on the surface of the excavation ground and the like. Therefore, it has been found that the depth of the excavated groove differs and the groove bottom has a step.

As a result of extensive research to solve this problem, the laser beam from the laser oscillator is received by the body of the power shovel to detect the amount of displacement of the body height due to unevenness on the surface of the excavation ground, and the bucket is straightened based on that. It was found that if it was moved, the trench bottom could be excavated to a flat state.

That is, the present invention provides a hydraulic excavator linear excavation control method, wherein a displacement of a vehicle body height is obtained by detecting a laser beam of a laser oscillator installed on the surface of an excavation ground by a sensor provided on the vehicle body. This is a method in which the displacement is fed back to the control system to correct the switching signal to each operation valve, whereby the bottom of the pipe burying groove can be excavated in a flat state.

〔Example〕

As shown in FIG. 1, a boom 2 is provided on a vehicle body 1 by a boom cylinder 3 so as to be vertically rotatable.
And a bucket 6 is provided on the arm 4 so as to be freely rotatable up and down so as to form a hydraulic power shovel. An inclinometer 9 and a sensor 10 for receiving a laser beam are provided. A boom angle sensor 11 is provided at a pivot of the boom 2, an arm angle sensor 12 is provided at a pivot of the arm 4, and a bucket angle is provided at a pivot of the bucket 6. A sensor 13 is provided, and a laser oscillator 14 is provided on the surface A of the excavation ground. The laser beam B of the laser oscillator 14 is received by the sensor 10.

The front and rear inclinometer 8, the left and right inclinometer 9, a boom angle sensor
11, the signals of the arm angle sensor 12 and the bucket angle sensor 13 are input to the automatic excavation control circuit 22 in the arithmetic circuit 21 of the controller 20, calculate and output control commands to the control circuit 23 in the same manner as in the past, and the control circuit The control current is output from 23 to the electromagnetic proportional control valves 24, 25, 26 for the boom, the arm, and the bucket, and the boom cylinder 3, the arm cylinder 5, and the bucket cylinder 7 are expanded and contracted to move the bucket 6 linearly. Ditch excavation.

The sensor 10 detects the displacement of the sensor 10 with respect to the laser light B by receiving the laser light B, and inputs a signal thereof to a vehicle body height displacement amount calculation circuit 27 in the calculation circuit 21;
Vehicle front and rear inclination angle and left and right inclinometer 9 from front and rear inclinometer 8
Calculates the height displacement amount of the vehicle body 1 based on the vehicle body left-right inclination angle and feeds it back to the automatic excavation control circuit 22 to correct the control command, and displays the groove depth based on the command value on the display unit 28 I do.

 Next, the operation of excavating the fume pipe burying groove will be described.

At the same time as traveling on the vehicle body 1, the boom 2, the arm 4, and the bucket 6 are manually rotated to stop the vehicle body 1 with the tip of the bucket 6 as the excavation start position.

The depth of the groove to be excavated is input to the automatic excavation control circuit 22 of the controller 20, the height of the vehicle body at that time is calculated based on the signal from the sensor 10 and the front / rear / left / right inclination angles, and is input based on the vehicle body height. The control signal is input to the control circuit 23 by calculating so that the groove depth becomes equal to the groove depth, and each electromagnetic proportional control valve 24, 25,
A control current is sent to 26 to supply pressure oil to the boom cylinder 3, the arm cylinder 5, and the bucket cylinder 7, and the boom 2, the arm 3, and the bucket 6 are rotated to move the bucket 6 straight at a predetermined depth along a predetermined gradient. The trench is excavated in a state where the vehicle 1 is moved and the vehicle body 1 is stopped.

After excavating a groove of a predetermined length, the vehicle body 1 travels a predetermined distance and stops, and the vehicle body height displacement is calculated based on the signal of the sensor 10 at that time, and the control signal is corrected by the vehicle body height displacement. As described above, the trench is excavated by moving the bucket 6 linearly along a predetermined depth and a predetermined gradient.

For example, when calculating the position of the bucket 6 based on the position of the boom pivot pin, the control signal is computed by displacing the position of the boom pivot pin by the amount of vehicle height displacement.

The trench is continuously excavated by repeating this operation.

In the above embodiment, the rotation amount of the boom, the arm, and the bucket is detected by the angle sensor. However, the rotation amount may be detected by the stroke of the cylinder.

[Effect of the Invention] Each time the vehicle body 1 travels a predetermined distance and stops, the amount of displacement of the vehicle body height is detected by laser light, and the excavation depth is corrected based on the vehicle body height displacement amount. Even when the height of the vehicle body 1 is different due to unevenness of the surface, etc., it is possible to excavate the fume pipe straight, so that the trench bottom can be excavated in a flat state when excavating the fume pipe embedding groove. Can be buried.

[Brief description of the drawings]

FIG. 1 is a front view of a hydraulic power shovel, and FIG. 2 is a block diagram of a control device. 1 is a vehicle body, 2 is a boom, 3 is a boom cylinder, 4 is an arm, 5 is an arm cylinder, 6 is a bucket, 7 is a bucket cylinder, 10 is a sensor, and 14 is a laser oscillator.

Continuing on the front page (72) Inventor Akira Ueda 2-16-1 Kyobashi, Chuo-ku, Tokyo Shimizu Construction Co., Ltd. (72) Katsushi Hirosawa 2-3-6 Akasaka, Minato-ku, Tokyo Komatsu Ltd. (56) References JP-A-56-105030 (JP, A) JP-A-62-59732 (JP, A) JP-A-62-185932 (JP, A) Japanese Utility Model Laid-Open No. 53-10501 (JP, U) (58) Field surveyed (Int. Cl. ⁶ , DB name) E02F 3/43, 9/20, 9/22

Claims (1)

(57) [Claims] 1. A straight line of a hydraulic power shovel for automatically controlling the rotation of a boom, an arm, and a bucket so that the tip of a bucket moves linearly based on a boom rotation amount, an arm rotation amount, a bucket rotation amount, and the like. In the excavation control method, at the start of excavation, the vehicle height is detected by a sensor 10 installed on the vehicle body by a laser beam B of a laser oscillator 14 installed on the surface of the excavation ground, and the excavation depth is determined based on the detected body height. When the vehicle is stopped, the vehicle is excavated linearly for a predetermined length, and then when the vehicle 1 is traveled a predetermined distance and reclined again in the stopped state, the displacement of the vehicle body height is detected by the laser light. A linear excavation control method for a hydraulic power shovel using a laser beam, wherein the excavation depth is corrected by a height displacement amount.